#include <ros/ros.h>  
#include <move_base_msgs/MoveBaseAction.h>  
#include <actionlib/client/simple_action_client.h>  
  
typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> MoveBaseClient;  
  
int main(int argc, char** argv){  
  ros::init(argc, argv, "simple_navigation_goals");  
  
  //tell the action client that we want to spin a thread by default  
  MoveBaseClient ac("move_base", true);  
  
  //wait for the action server to come up  
  while(!ac.waitForServer(ros::Duration(5.0))){  
    ROS_INFO("Waiting for the move_base action server to come up");  
  }  
  
  move_base_msgs::MoveBaseGoal goal;  
  
  //we'll send a goal to the robot to move 1 meter forward  
  goal.target_pose.header.frame_id = "map";  
  goal.target_pose.header.stamp = ros::Time::now();  
  
  goal.target_pose.pose.position.x = 3.765;  
  goal.target_pose.pose.position.y = 3.899;  
  goal.target_pose.pose.orientation.w = 1.0;  
  
  ROS_INFO("Sending goal");  
  ac.sendGoal(goal);  
  
  ac.waitForResult();  
  
  if(ac.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)  
    ROS_INFO("move to 9 desk");  
  else  
    ROS_INFO("The base failed to move forward ");  
  
  return 0;  
}  
